初版调试完成
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@@ -0,0 +1,177 @@
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#include "BeepAndLed.h"
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#include "beepAndLed.h"
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#include "main.h" // 包含BUZZER_ON/OFF, LED等宏定义
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// ========== 变量定义 ==========
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static BeeperCtrl_t g_beeper = {
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.state = BEEPER_STATE_IDLE,
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.is_active = 0,
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.repeat = 0,
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.repeat_done = 0,
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.on_ms = 0,
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.off_ms = 0
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};
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// 延时计数器（供滴答定时器使用）
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uint32_t BeepAndLedCollDelay1mSCnt = 0;
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// ========== 硬件控制函数（根据您的实际宏定义修改）==========
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static void Beeper_HW_On(void)
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{
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BUZZER_ON(); // 请替换为您的实际宏
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LED_GREEN_OFF(); // 请替换为您的实际宏
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LED_RED_ON(); // 请替换为您的实际宏
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}
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static void Beeper_HW_Off(void)
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{
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BUZZER_OFF(); // 请替换为您的实际宏
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LED_GREEN_ON(); // 请替换为您的实际宏
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LED_RED_OFF(); // 请替换为您的实际宏
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}
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// ========== 实现函数 ==========
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/**
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* @brief 蜂鸣器初始化
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*/
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void Beeper_Init(void)
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{
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Beeper_Stop();
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}
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/**
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* @brief 开始鸣响（非阻塞）
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* @param on_ms 鸣响时间(ms)
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* @param off_ms 间隔时间(ms)
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* @param repeat 重复次数（0表示无效）
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*
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* @example Beeper_Start(200, 100, 3); // 鸣200ms，停100ms，重复3次
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*/
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void Beeper_Start(uint16_t on_ms, uint16_t off_ms, uint8_t repeat)
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{
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if (repeat == 0) return;
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// 如果已经在鸣响，可以选择停止并重新开始
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if (g_beeper.is_active) {
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Beeper_Stop(); // 停止当前，重新开始新的
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// return; // 或者选择忽略新请求
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}
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// 保存参数
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g_beeper.on_ms = on_ms;
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g_beeper.off_ms = off_ms;
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g_beeper.repeat = repeat;
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g_beeper.repeat_done = 0;
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g_beeper.is_active = 1;
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// 开启蜂鸣器
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Beeper_HW_On();
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// 设置延时计数器（开启状态延时）
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BeepAndLedCollDelay1mSCnt = on_ms;
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g_beeper.state = BEEPER_STATE_ON;
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}
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/**
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* @brief 停止鸣响
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*/
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void Beeper_Stop(void)
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{
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// 关闭硬件
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Beeper_HW_Off();
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// 重置状态机
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g_beeper.state = BEEPER_STATE_IDLE;
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g_beeper.is_active = 0;
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g_beeper.repeat = 0;
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g_beeper.repeat_done = 0;
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BeepAndLedCollDelay1mSCnt = 0;
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}
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/**
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* @brief 蜂鸣器状态机更新（放在main.c的while(1)中循环调用）
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* @note 必须在滴答定时器更新BeepAndLedCollDelay1mSCnt后才能正确工作
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*/
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void BeeperLoopHandler(void)
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{
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if (!g_beeper.is_active) {
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return;
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}
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switch (g_beeper.state) {
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case BEEPER_STATE_ON:
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// 蜂鸣器开启状态，等待计数器归零
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if (BeepAndLedCollDelay1mSCnt == 0) {
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// 延时结束，关闭蜂鸣器
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Beeper_HW_Off();
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g_beeper.repeat_done++;
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// 检查是否完成所有重复
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if (g_beeper.repeat_done >= g_beeper.repeat) {
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// 全部完成，结束
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g_beeper.is_active = 0;
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g_beeper.state = BEEPER_STATE_IDLE;
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} else {
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// 还有下次，进入等待状态
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BeepAndLedCollDelay1mSCnt = g_beeper.off_ms;
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g_beeper.state = BEEPER_STATE_OFF;
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}
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}
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break;
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case BEEPER_STATE_OFF:
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// 蜂鸣器关闭等待状态（间隔时间）
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if (BeepAndLedCollDelay1mSCnt == 0) {
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// 间隔结束，开启下一次鸣响
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Beeper_HW_On();
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BeepAndLedCollDelay1mSCnt = g_beeper.on_ms;
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g_beeper.state = BEEPER_STATE_ON;
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}
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break;
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case BEEPER_STATE_WAIT:
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case BEEPER_STATE_IDLE:
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default:
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break;
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}
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}
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/**
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* @brief 查询是否正在鸣响
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* @return true:正在鸣响, false:空闲
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*/
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bool Beeper_IsPlaying(void)
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{
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return g_beeper.is_active;
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}
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/**
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* @brief 手动开启蜂鸣器（不计入状态机）
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*/
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void Beeper_On(void)
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{
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Beeper_HW_On();
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}
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/**
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* @brief 手动关闭蜂鸣器（不计入状态机）
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*/
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void Beeper_Off(void)
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{
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Beeper_HW_Off();
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}
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/**
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* @brief 清除延时计数器（由滴答定时器调用）
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* @note 这个函数放在滴答定时器的1ms中断中调用
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*/
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void Beeper_ClearDelay(void)
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{
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if (BeepAndLedCollDelay1mSCnt > 0) {
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BeepAndLedCollDelay1mSCnt--;
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}
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}
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@@ -0,0 +1,39 @@
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#ifndef __BEEPANDLED_H
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#define __BEEPANDLED_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "bsp.h"
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// ========== 蜂鸣器状态机状态定义 ==========
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typedef enum {
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BEEPER_STATE_IDLE = 0, // 空闲
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BEEPER_STATE_ON, // 蜂鸣器开启延时中
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BEEPER_STATE_OFF, // 蜂鸣器关闭延时中
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BEEPER_STATE_WAIT // 等待下一次鸣响
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} BeeperState_t;
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// ========== 蜂鸣器控制结构体 ==========
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typedef struct {
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BeeperState_t state; // 当前状态
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uint16_t on_ms; // 鸣响时间(ms)
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uint16_t off_ms; // 间隔时间(ms)
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uint8_t repeat; // 重复次数
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uint8_t repeat_done; // 已完成次数
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uint8_t is_active; // 是否激活
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} BeeperCtrl_t;
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// ========== 外部可访问变量 ==========
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extern uint32_t BeepAndLedCollDelay1mSCnt; // 延时计数器（在beepAndLed.c中定义）
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// ========== API函数 ==========
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void Beeper_Init(void); // 初始化
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void Beeper_Start(uint16_t on_ms, uint16_t off_ms, uint8_t repeat); // 开始鸣响（非阻塞）
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void Beeper_Stop(void); // 停止鸣响
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void BeeperLoopHandler(void); // 状态机更新（放在while(1)中）
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bool Beeper_IsPlaying(void); // 查询是否正在鸣响
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void Beeper_On(void); // 手动开启蜂鸣器
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void Beeper_Off(void); // 手动关闭蜂鸣器
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void Beeper_ClearDelay(void); // 清除延时计数器（供滴答定时器使用）
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#endif /* _BEEP_AND_LED_H_ */
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@@ -221,12 +221,12 @@
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//< LED
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#define LED_GREEN_PORTx (PortA)
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#define LED_GREEN_PINx (Pin09)
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#define LED_GREEN_PINx (Pin08)
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#define LED_GREEN_ON() PORT_SetBits(LED_GREEN_PORTx, LED_GREEN_PINx)//拉高
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#define LED_GREEN_OFF() PORT_ResetBits(LED_GREEN_PORTx, LED_GREEN_PINx)//拉低
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#define LED_RED_PORTx (PortA)
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#define LED_RED_PINx (Pin08)
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#define LED_RED_PINx (Pin09)
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#define LED_RED_ON() PORT_SetBits(LED_RED_PORTx, LED_RED_PINx)//拉高
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#define LED_RED_OFF() PORT_ResetBits(LED_RED_PORTx, LED_RED_PINx)//拉低
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@@ -3,34 +3,25 @@
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#include <stdlib.h>
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#include "bsp.h"
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#define USE_FILE_SYSTEM 1
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#define SDCARD_BLOCK_MAX (10000)
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#define OSC_CNT 40
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#define SLOPE_CNT 20
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#define SLOPE_VPT 1000
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#define PRESS_VPT 3
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#define FOLLOW_VPT 10
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#define SHIELD_VPT 5000
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#define SHIELD_VPT 8000
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#define EME_STOP_VPT 4000
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#define CENTRE_VPT 2000
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#define CENTRE_VPT 8000
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#define CENTRE_SHIELD_VPT 2000
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#define STOP_TIME_MS 500
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#define CENT_TIME_MS 200
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#define RUN_TIME_MS 0
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#define EME_START_MS 0
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#define EME_STOP_MS 2000
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#define SLOPE_START_MS 3000
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#define TRAVEL_TIME_MS 30000
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#define PEAK 1200 //1200mm
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#define VALLEY 720 //720mm
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#define BDC_STOP() (SET_TWIN_BIT0(),SET_TWIN_BIT1())
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#define BDC_DOWN() (SET_TWIN_BIT0(),CLR_TWIN_BIT1())
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#define BDC_UP() (SET_TWIN_BIT1(),CLR_TWIN_BIT0())
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#define BDC_STOP() (SET_TWIN_BIT0(),SET_TWIN_BIT1())
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#define BDC_DOWN() (SET_TWIN_BIT0(),CLR_TWIN_BIT1())
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#define BDC_UP() (SET_TWIN_BIT1(),CLR_TWIN_BIT0())
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//#define BDC_STOP() Motor_Control(MOTOR_CMD_STOP)
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//#define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD)
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@@ -47,7 +38,6 @@ typedef enum {
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/*设备阈值*/
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typedef struct{
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int32_t Slope_VPT;
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int32_t Stop_VPT;
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int32_t LeftUpVPT;//左上设备阈值
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@@ -66,16 +56,8 @@ typedef struct{
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int32_t RightLow_Org_AdZero;//右下设备原始AD零点
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}ADTrack_t;
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typedef struct{//电机参数
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bool InitialFlag;//初始标志位
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bool RestFlag;
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bool CaliFlag;
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bool LoopOne;//循环一次标志位
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int16_t Current_height;//当前高度mm
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int16_t CaliNum;//标校数量
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int32_t LU_HeightStress[488];//左上传感器对应高度应力
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int32_t LL_HeightStress[488];//左下传感器对应高度应力
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int32_t RU_HeightStress[488];//右上传感器对应高度应力
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int32_t RL_HeightStress[488];//右上传感器对应高度应力
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}MotorPara_t;
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/*数据读取状态机*/
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typedef enum {
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@@ -97,22 +79,9 @@ typedef enum {
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APP_STATUS_IDLE,
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APP_STATUS_ON,
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APP_STATUS_OFF,
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APP_STATUS_MOTOR_INIT,
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APP_STATUS_WAIT_MOTOR_INIT,
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APP_STATUS_WAIT_MOTOR_CALI_UP,
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APP_STATUS_WAIT_MOTOR_CALI_DOWN,
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APP_STATUS_WAIT_STEADY,
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APP_STATUS_ZERO_MARKING,
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APP_STATUS_HEIGHT_CONTROL,
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}AppStatus_m;
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typedef struct{
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__IO uint16_t rPayLen;
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__IO bool HeaderFrame;
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__IO uint16_t RxLen;
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uint8_t RxBuff[10];
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}Uart1Rx_t;
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typedef struct{
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__IO uint16_t rPayLen;
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__IO bool HeaderFrame;
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@@ -124,25 +93,20 @@ typedef struct {
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AppStatus_m Status;//状态
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ReadStatus_m RStatus;
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AppPara_T Para;
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Uart1Rx_t RxUart1Data;
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Uart3Rx_t RxUart3Data;
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ADTrack_t ADTrack;
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MotorPara_t MotorPara;
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uint32_t TD1mSDelayCnt;
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uint32_t Read1mSDelayCnt;
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uint32_t Uart1Delay1mSCnt;
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uint32_t Read1mSDelayCnt;
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uint32_t Uart3RxTimeOut1mSCnt;
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uint32_t StopCollDelay1mSCnt;
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uint32_t RunCollDelay1mSCnt;
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uint32_t CentCollDelay1mSCnt;
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uint32_t EmergencyDelay1mSCnt;
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uint32_t SlopeCollDelay1mSCnt;
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uint32_t CailUp1mSCnt;
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uint32_t HeightContRolCnt;
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uint8_t FeedDogDlyCnt;
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bool CaliZeroFlag;//校零标志位
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bool SideFlag;//侧压标志位
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bool UpFlag;//上升标志位
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bool DownFlag;//下降标志位
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bool StopFlag;//停止标志位
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@@ -165,8 +129,6 @@ typedef struct {
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int32_t LeftLowCS1237_SlopeArray[SLOPE_CNT];
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int32_t RightUpCS1237_SlopeArray[SLOPE_CNT];
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int32_t RightLowCS1237_SlopeArray[SLOPE_CNT];
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bool WaitFlag;
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}AppDetect_t;
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extern AppDetect_t App;
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+227
-503
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